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scripts/e2e_check.sh

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+#!/usr/bin/env bash
+# scripts/e2e_check.sh —— 端到端冒烟测试
+# 启动 bringup/pubsub_launch 8 秒,期间持续验证 chatter 真的有消息
+set -eo pipefail
+
+WORKSPACE="${WORKSPACE:-/root/ros2_ws}"
+source /opt/ros/humble/setup.bash
+source "${WORKSPACE}/install/setup.bash"
+cd "${WORKSPACE}"
+
+echo "[e2e] 启动 bringup/pubsub_launch.py (≈6s 冒烟)..."
+ros2 launch bringup pubsub_launch.py > /tmp/e2e_launch.log 2>&1 &
+LAUNCH_PID=$!
+sleep 3
+
+echo
+echo "[e2e] === 验证 topic ==="
+echo "[e2e] --- topic list ---"
+ros2 topic list --no-daemon | head -10
+echo
+echo "[e2e] --- topic hz /chatter (3s) ---"
+timeout 3 ros2 topic hz /chatter --no-daemon 2>&1 | tail -5 || true
+echo
+echo "[e2e] --- topic info /chatter -v ---"
+ros2 topic info /chatter -v --no-daemon | head -20
+echo
+echo "[e2e] --- node list ---"
+ros2 node list --no-daemon
+
+echo
+echo "[e2e] 关停 launch..."
+kill -INT "${LAUNCH_PID}" 2>/dev/null || true
+pkill -f "ros2 launch bringup" 2>/dev/null || true
+wait "${LAUNCH_PID}" 2>/dev/null || true
+echo
+echo "[e2e] ✅ DONE. 详细日志: cat /tmp/e2e_launch.log"